摘要
提出一种新型多自由度磁悬浮球形主动关节,分析了关节产生磁悬浮力和电磁转矩的机理,基于状态重构原理实现转子的状态同步悬浮控制和无传感自检测反馈控制。通过仿真试验可知,状态同步悬浮控制精度高,抗干扰性强。
This paper presents a novel Multi-degree-of-freedom magnetic levitation sphere driving joint, it analy- ses mechanism of magnetic force and electromagnetic toeque that driving joint generates. Based on principles of state reconstruction, the state syschronization suspension control and non-self-test sensor feedback control of the rotor are a- chieved. The simulation experiments show that the state synchronization suspension control owns high precision and strong interference immunity.
出处
《机械设计与研究》
CSCD
北大核心
2010年第4期49-53,共5页
Machine Design And Research
基金
国家自然科学基金资助项目(50975249)
江苏省自然科学基金资助项目(BK2008219)
江苏省高校自然科学研究项目(09KJD460006)
关键词
多自由度
磁悬浮
球形主动关节
悬浮控制
multi-degree-of-freedom
magnetic levitation
spherical driving joint
suspension control
